73 lines
3.0 KiB
Markdown
73 lines
3.0 KiB
Markdown
# bobbycar-controller-firmware
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```
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#dependencies
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sudo pacman -Sy --noconfirm \
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arm-none-eabi-binutils \
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arm-none-eabi-gcc \
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arm-none-eabi-gdb \
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arm-none-eabi-newlib \
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cmake \
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make \
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openocd \
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stlink
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git clone --recursive git@github.com:bobbycar-graz/bobbycar-controller-firmware.git
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cd bobbycar-controller-firmware/
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cmake -DCMAKE_BUILD_TYPE=Release .
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make unlock0 # needed only once per board
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make flash-motortest
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make flash-feedc0de-front
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make flash-feedc0de-back
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make flash-greyhash
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```
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## Hardware
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The original Hardware supports two 4-pin cables that originally were connected to the two sensor boards. They break out GND, 12/15V and USART2&3 of the Hoverboard mainboard.
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Both USART2 & 3 can be used for UART and I2C, PA2&3 can be used as 12bit ADCs.
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The reverse-engineered schematics of the mainboard can be found here:
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http://vocke.tv/lib/exe/fetch.php?media=20150722_hoverboard_sch.pdf
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## Flashing
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To build the firmware, just type "make flash". Right to the STM32, there is a debugging header with GND, 3V3, SWDIO and SWCLK. Connect GND, SWDIO and SWCLK to your SWD programmer, like the ST-Link found on many STM devboards.
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Do not power the mainboard from the 3.3V of your programmer! This has already killed multiple mainboards.
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Make sure you hold the powerbutton or connect a jumper to the power button pins while flashing the firmware, as the STM might release the power latch and switches itself off during flashing. Battery > 36V have to be connected while flashing.
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To flash the STM32, use the ST-Flash utility (https://github.com/texane/stlink).
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If you never flashed your mainboard before, the STM is probably locked. To unlock the flash, use the following OpenOCD command:
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```
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make unlock0
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```
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If that does not work:
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```
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make unlock1
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```
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```
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make unlock2
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```
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---
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## Troubleshooting
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First, check that power is connected and voltage is >36V while flashing.
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If the board draws more than 100mA in idle, it's probably broken.
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If the motors do something, but don't rotate smooth and quietly, try to use an alternative phase mapping. Usually, color-correct mapping (blue to blue, green to green, yellow to yellow) works fine. However, some hoverboards have a different layout then others, and this might be the reason your motor isn't spinning.
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---
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## Acknowledgements
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Last but not least, I would like to acknowledge and thank the following people:
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- Original firmware: [@NiklasFauth](https://github.com/NiklasFauth)
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- Github: [@TomTinkering](https://github.com/TomTinkering), [@ced2c](https://github.com/ced2c), [@btsimonh](https://github.com/btsimonh), [@lalalandrus](https://github.com/lalalandrus), [@p-h-a-i-l](https://github.com/p-h-a-i-l) , [@AntumArk](https://github.com/AntumArk), [@juodumas](https://github.com/juodumas)
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- ST Employee: [cedric H](https://community.st.com/s/question/0D50X0000B28qTDSQY/custom-foc-control-current-measurement-dma-timer-interrupt-needs-review)
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- Emanuel Feru: [@EmanuelFeru](https://github.com/EmanuelFeru)
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for the very useful discussions, code snippets, and good suggestions to make this work possbile.
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